Verse 6

In plain words

How those who worship the Imperishable live — that we will take up later on —

But there are others who give every single action over to Me, the Lord, and hold Me alone as supreme — 'I am the highest,' they hold, and that is what makes them 'intent on Me'. They rely on nothing else at all: no other support exists for them except this universal-formed Deity, who is also their own true Self. That is what 'undivided' means — someone for whom there is simply no other. By what means do they do this? Through yoga, through deep concentration, meditating, holding Me in mind — that is how they worship.

Close to the Sanskrit

That which is the conduct of the worshippers of the Imperishable — that we shall state further on —

But those who, having renounced all actions in Me, the Lord, are intent on Me — 'I am supreme' [is the thought] of whom, they are 'intent on me', being [such] — by that very undivided [devotion] — not existing [is any] other support, having left aside anything else, the universal-formed Deity, the Self, [as the sole support] — of whom there is no other, he is 'undivided', by that very undivided [devotion]; by what [means]? — by yoga, by concentration, meditating, contemplating on Me, they worship.

In plain words

“To attain this state, attachment to the body must be given up through ‘nirguṇa upāsana’. Otherwise, the saguṇa upāsakas too, if they offer to Me the fruits of all their karmas, Vedic and worldly, and do their upāsana holding ‘I alone am the supreme goal’, if they meditate on Me alone and keep their citta on Me alone, them too I shall bless with My grace. I shall carry them across the ocean called saṃsāra; I shall bring them to the destination called Mokṣa. Brother-in-law! Keeping the citta on Me alone is not such an easy task. It is not possible for everyone. However much one practises, keeping the citta on Me is hard to achieve.”